High efficiency strength training apparatus

ABSTRACT

In one preferred embodiment, the present invention provides an exercise apparatus in which an impingement member is driven between a selectable start point and a selectable endpoint. When coupled with suitable instrumentation and electronic circuitry, the inventive strength training device allows the measurement, tracking, and computation of force exerted, repetitions performed, measurement and display of position, velocity, acceleration, work, impulse, etc. In addition, archived data can be used to show improvement or problem areas as well as provide an indication of the quality of each repetition and the quality of the workout in general. Such an exercise apparatus comprises: a frame including a base; a linear actuator supported from the frame; an impingement member movable relative to the frame and driven by the actuator; and a controller for controlling the actuator.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an efficient system and method forexercise testing and prescription. More particularly, but not by way oflimitation, the invention provides an exercise apparatus such that theperformance of a user can be precisely monitored or controlled.

2. Background of the Invention

People exercise for any number of reasons, such as to improveperformance in a sport, to lose weight, general conditioning, to feelbetter, or even as a social activity. Since many people find itdifficult, if not impossible, to maintain an exercise regimen for anymeaningful period of time, measuring performance and producingnoticeable gains in the shortest period of time are an important part ofmotivating an individual to maintain an exercise program.

Exercise machines for aerobic conditioning have provided measurements ofa user's performance for many years. Even if such machines havehistorically inflated some measurements, such as calorie consumption, auser may still observe a relative improvement in performance fromworkout-to-workout. Traditionally strength training devices have notprovided users the same benefit. This has been true for a number ofreasons.

First, the principal measurements of interest to most people usingstrength training equipment are the amount of weight lifted and thenumber of repetitions for the given weight lifted. These two units ofmeasure are easily measured by the user and do not necessitate addingsophisticated electronics just to count repetitions. Unfortunately,tracking a strength training regimen by only weight and repetitions isvery likely misleading and may actually de-motivate a user rather thanencourage.

Whether using free weights or a machine, adding weight involves addingat least one more weight plate, thus one can only increase the amountlifted in discrete increments. Further, simply adjusting the weight andcounting repetitions do not readily allow an individual to identifyday-to-day factors which can effect the number of times the user canlift a given weight. Factors such as activity prior to lifting, recoveryfrom the last exercise session, illness, injury, hydration, etc. cansignificantly influence one's performance. Further still, merelycounting repetitions does not reflect intra-rep performance factors,i.e., power, inertia, relative concentric/eccentric speeds, etc.

There is also a perception that only those with some specialized skill,such as those educated in exercise physiology, or those who employee apersonal trainer, would benefit from more detailed measures ofperformance during an exercise session. However, a primary reason manypeople abandon an exercise program is the lack of discernibleimprovement. Recorded detailed measurements can motivate an exerciser,even when there is otherwise no apparent improvement, by providing anindication of minute improvement or an improvement in strength despitean apparent setback in overall performance due to a temporary condition.

One device which provides such measurements is the impingement exerciserdescribed in U.S. Pat. No. 4,647,039, issued to Noffsinger, which isincorporated by reference as if fully set forth herein. The impingementexerciser changes the strength training paradigm by providing a bar thatmoves over a predetermined range of motion. Over this range, the bar isdriven by a DC motor under the control of a four-quadrant controllersuch that the bar will either develop force or resist force to maintaina speed profile. For example, a user performing a squat continuallypushes up on the bar over both the up phase and the down phase. Thedifference between a conventional squat and a squat on the Noffsingerdevice is that the user applies as much force as possible over theentire repetition. With a conventional weight bar or a conventionalweight machine, only the amount of weight the user can lift at his orher weakest point, a “sticking point,” can be loaded on the machine.With the Noffsinger device, the user pushes with his or her maximumforce at all points along the range of motion. At the sticking points,the force could be the same as with conventional equipment, but at allother points the user can push with significantly greater force thusincreasing the efficiency of the training. Sticking points simply do notexist with the Noffsinger device.

Other advantages of the Noffsinger device include: it is well suited toinstrumentation; increased negative loading is completely under usercontrol; the device is safer than conventional weight equipment, if auser feels threatened, he or she can simply quit pushing and the barwill simply continue to move at the selected speed.

Disadvantages of the Noffsinger device include: the horsepower of themotor required for high-end users is substantial; the device isrelatively heavy; the range of motion is limited because it ismechanically set; and sinusoidal movement of the impingement member isinherent in the device. Finally, Noffsinger does not suggest or utilizethe use of real-time feedback to control the exercise motion during itsexecution.

It is thus an object of the present invention to provide a system andmethod for measuring human performance and/or providing training whichovercomes the problems and alleviates the needs discussed above.

SUMMARY OF THE INVENTION

In one preferred embodiment, the present invention provides an exerciseapparatus in which an impingement member is driven between a selectablestart point and a selectable endpoint. When coupled with suitableinstrumentation and electronic circuitry, the inventive strengthtraining device allows the measurement, tracking, and computation offorce exerted, repetitions performed, measurement and display ofposition, velocity, acceleration, work, impulse, etc. In additionarchived data can be used to show improvement or problem areas as wellas provide an indication of the quality of each repetition and thequality of the workout in general. Such an exercise apparatus comprises:a frame including a base; a linear actuator supported from the frame; animpingement member movable relative to the frame and driven by theactuator; and a controller for controlling the actuator.

In another preferred embodiment there is provided an exercise apparatusfor providing exercise testing and prescription. The exercise apparatusmay be provided as a multipurpose exercise device or adapted to exercisea particular muscle or group of muscles. In one preferred embodiment theexercise machine comprises: a frame; an impingement member movablysupported by said frame and adapted to move over a range of motion; alinear actuator in communication with said impingement member to drivethe impingement member through the range of motion; a controller forcontrolling operation of the linear actuator in a predetermined manner;and a display for obtaining information from the user and displayingworkout information to the user. As a user interacts with theimpingement member, the controller controls velocity and reversal of theimpingement member at the endpoints of the range of motion and measureforces applied to the impingement member by the user.

In yet another preferred embodiment, the inventive exercise apparatusdraws user information from a database so that workout parameters, i.e.endpoints, speed of exercise, max force, number of repetitions, numberof sets, and the like, may be used to customize workout sessions foreach user.

In each of the preceding embodiments, it should be understood that thepresent invention will preferably be able to measure and utilize thequantity “effort” as a consistent, repeatable, exterior measure of humanmuscular output capacity for given exercise. “Effort,” will be definedherein as the total momentum generated during an exercise repetition, orset, and has units of Newton-seconds in the metric system. It is asuperior measure compared to “work” in that work (which is traditionallymeasured in Joules) depends on the existence of motion during exercise.In contrast, effort, as used herein, is independent of the state ofmotion since it is the calculus integral of force over time, not forceover displacement (as is the case for the work performed). The presentinvention allows for the practical, consistent, and repeatablemeasurement of effort for exercise protocols, such as bench press,squat, rows, etc. Using the real-time feedback loop described below, thepresent invention will preferably not only measures effort, but also usethat measurement to provide the user with feedback concerning theperformance in real-time. Additionally, in the preferred arrangement theinstant invention will also allow customization, in real time or at alater date, of a given user's exercise program.

In each of the preceding embodiments, it should be understood that thepresent invention's use of load sensors coupled with robotic control ofthe linear actuator allows for real-time or near real-time feedback. Theinventive apparatus uses the data collected by said load sensors in afeedback loop to tailor the user's specific work-out in real time ornear real time. For example, the inventive apparatus could slow or evenstop the apparatus' machine rate cycle if the load sensors detect aforce applied by the user that is in excess of a predetermined maximum.Further, the data collected by the feedback loop could used to coach auser through the use of vocal or musical reinforcement when the forceapplied by the user falls either above, below or within predeterminedranges of values.

Further objects, features, and advantages of the present invention willbe apparent to those skilled in the art upon examining the accompanyingdrawings and upon reading the following description of the preferredembodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

Other objects and advantages of the invention will become apparent uponreading the following detailed description and upon reference to thedrawings in which:

FIG. 1 depicts one preferred embodiment of the inventive strengthtraining apparatus in its general environment.

FIG. 2 provides a side view of a suitable actuator as employed in thestrength training apparatus of FIG. 1.

FIG. 3 provides a schematic of the actuator system and controls for thestrength training apparatus of FIG. 1.

FIG. 4 provides a block diagram of one preferred embodiment of a motorcontroller as depicted in FIG. 3.

FIG. 5 provides a side view of a preferred embodiment of a chestpress/seated row machine according to the present invention.

FIG. 6 provides a view of section 6-6 from FIG. 5.

FIG. 7 provides a view of section 7-7 from FIG. 5.

FIG. 8 provides a front view of a preferred embodiment of a shoulderpress/lat pull machine according to the present invention.

FIG. 9 provides a view of section 9-9 from FIG. 8.

FIG. 10 provides a view of section 10-10 from FIG. 9.

FIG. 11 provides a front view of a preferred embodiment of a squatmachine according to the present invention.

FIG. 12 provides a view of section 12-12 of FIG. 11.

FIG. 13 provides a view of section 13-13 of FIG. 12.

FIG. 14 provides a side view of a preferred embodiment of a leg pressmachine according to the present invention.

FIG. 15 provides a view of section 15-15 of FIG. 14.

FIG. 16 provides a side view of a preferred embodiment of a legextension/seated leg curl machine according to the present invention.

FIG. 17 provides a view of section 16-16 from FIG. 16.

FIG. 18 provides a view of section 17-17 from FIG. 16.

FIG. 19 provides a side view of a preferred embodiment of aback/abdominal 1 machine according to the present invention.

FIG. 20 provides a view of section 20-20 from FIG. 19.

FIG. 21 provides a view of section 21-21 from FIG. 19.

FIG. 22 provides a side view of a preferred embodiment of a shouldermachine according to the present invention.

FIG. 23 provides a perspective view of the shoulder machine of FIG. 22.

FIG. 24 illustrates a preferred networking hardware configuration FIG.25 contains a preferred flowchart suitable for use with variousembodiments of the instant invention.

FIG. 26 contains a force-vs.-time plot for the bench press embodiment ofthe instant invention for different numbers of repetitions.

FIG. 27 contains effort curves for a single user of the bench pressembodiment of the instant invention for two separate work-out sessionsof a number of different repetitions

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Before explaining the present invention in detail, it is important tounderstand that the invention is not limited in its application to thedetails of the construction illustrated and the steps described herein.The invention is capable of other embodiments and of being practiced orcarried out in a variety of ways. It is to be understood that thephraseology and terminology employed herein is for the purpose ofdescription and not of limitation.

Referring now to the drawings, wherein like reference numerals indicatethe same parts throughout the several views, FIG. 1 depicts onepreferred embodiment 100 of the inventive strength training apparatus inits general environment. Typically an exercise machine 100 constructedaccording to the present invention includes: a frame 102 having a base104 for supporting the machine 100; a support 106 for a user 108; animpingement member 110 pivotally attached to the frame 102 for providingresistance training to user 108; an actuator 112 drivingly positionedbetween the impingement member 110 and frame 102 for driving member 110;a display or user interface 114 for displaying information to user 108;a motor controller 126 (FIG. 3) for providing control of actuator 112;and a computer 128 for providing overall control of the machine andfeedback to user 108.

Typically, frame 102 will be fabricated from tubing, sheet metal, metalplate, or other material of sufficient strength and rigidity to supportmachine 100. Base 104 provides a sufficient footprint for machine 100 toremain in a stable position through normal use of machine 100. In onepreferred embodiment base 104 includes adjustable feet 116 for levelingmachine 100 and thus, to prevent rocking. Depending on the muscle groupsexercised by a particular machine, support 106 may support user 108 in astanding, seated, recumbent, inclined, or other position appropriate forthe particular exercise.

Preferably actuator 112 is a linear actuator for driving impingementmember 110 between a first position and a second position. One suitableactuator is the SR-41 roller screw actuator manufactured by ExlarCorporation of Chanhassen, Minn. While many Exlar models are suitablefor use on the inventive machine, a device that is similar to an SRseries actuator is depicted in the drawings. It should be noted thatmany other actuators are suitable for use in the present inventionincluding, by way of example and not limitation, ball screw actuators,hydraulic cylinders, pneumatic actuators, etc. With further reference toFIGS. 2 and 3, a roller screw actuator 112 comprises a housing 118, arod 120 driven by the roller screw mechanism and an internal servomotor, a power connector 124 for inputting properly phased electricalpower from motor controller 126 to selectively drive the servo motor,and an encoder connector 122 for outputting servo motor position and rodposition information to motor controller 126.

In one preferred embodiment motor controller 126 receives electricalpower for operation of the machine via power cord 130. Power is thendistributed to display 114 and computer 128 through connections 132 and134, respectively. Display 114 receives video information from computer128 for display to the user through connection 136. Preferably display114 includes a touch screen interface for receiving information andcommands from the user. Information from the touch screen 114 is sent tocomputer 128 through connection 138. Properly phased electrical signalsare provided to drive actuator 112 through connection 140 and feedbackfrom the actuator is sent to the motor controller through connection142. A load cell 144 or similar load-measuring device is provided atclevis 146 for measuring rod force on actuator 112. Connection 148carries the load cell 144 information to motor controller 126 wheresignal conditioning is performed to amplify and filter the load cellsignals as required. Motor commands for directing movement produced byactuator 112 are sent from computer 128 to motor controller 126, andpositional information, force information, and performance parametersare sent from motor controller 126 to computer 128 through connection150.

As will be appreciated by those skilled in the art, motor controllersare well known devices and an in-depth understanding of such devices isnot essential to understand the present invention. However, as shown inFIG. 4, in one preferred embodiment, motor controller 126 comprises: adigital communication interface, i.e. serial interface 152 and/orEthernet interface 154, for communication with a host computer 128 (FIG.3); connectors 156 and 158 which accepts cables for serial or Ethernetcommunication, respectively; an actuator feedback connector 160 throughwhich Hall effect sensor signals from the servo motor of an actuator arereceived and processed by the Hall effect interface circuitry 162 toprovide rotor position for electrical commutation of the servo motor;also through feedback connector 160, quadrature encoder signals arereceived from the actuator and processed by the quadrature encoderinterface 164 to provide rod position information; an instrumentationamplifier 166 processes the load cell signal received through connector168 to provide an indication of rod force at the actuator; a processor170 for processing commands from a host processor and feedback signalsfrom the actuator to produce properly sequenced signals 172, 174, 176,178, 180, and 182 which provide commutation of the magnetic fields inthe servo motor; power amplifier 184 amplifies the signals 172-180 toprovide sufficient voltage and electrical current to drive the actuatorthrough connections 186, 188, and 190 and further through connector 192which interfaces the power cable of the actuator; and power supply 194which receives AC electrical power through connector 198 and provideshigh voltage DC power to the power amplifier and low voltage DC power196 for operation of the circuitry of motor controller 126.

In an electric motor, commutation is the practice of creating a rotatingmagnetic field within the motor to rotate the rotor of the motor. Inthree phase AC motors, the natural phase angle between the three phasesis used to create a rotating field, in motors with brushes, this isperformed by the interaction of the brushes, a commutator in contactwith the brushes and the windings of the armature such that the armatureproduces the rotating field. In servomotors, or brushless DC motors, asfound in the actuator, commutation is performed outside the motor todrive multiple windings in the motor sequentially. To synchronize therotating field with the rotor of the motor, Hall effect sensors(typically three sensors) may be placed in the motor to indicate rotorposition as the rotor rotates. Processor 170 can thus determine themotor rotor position through Hall sensor interface 162. Processor 170then determines the proper configuration of signals 172-182 to createthe next sequential step in the commutation to drive the rotor to itsnext position. For example, in one preferred embodiment, there are threeoutput signals from motor controller 126 to the actuator, phase A 186,phase B 188, and phase C 190. Each output signal can be driven to a highstate, e.g. phase A 186 can be driven high by signal 172, phase B 188can be driven high by signal 176, or phase C 190 can be driven high bysignal 180, or alternatively, each output signal phase A 176, phase B178, or phase C 180 may be driven to a low state by either signal 174,178, or 182, respectively. The process of sequentially driving outputs186-190 is repeated hundreds, or even thousands, of times per second todrive the motor at a desired speed.

In the present system, rod position is also important to operation ofthe exercise machine and a quadrature encoder is included in theactuator to indicate the rod position. The quadrature encoder interface164 decodes the signals to provide an indication of rod position toprocessor 170.

Returning to FIG. 1, in use, a person 108 wishing to engage in astrength training session preferably will preferably first enter an useridentification, name, or the like through the touch screen interface of114. As will be apparent to one skilled in the art, ideally the startand end points of impingement member 110 will be tailored to eachindividual user and for each particular exercise to be performed on aparticular machine. Thus, for example, first user 108 identifies herselfand then selects an exercise to be performed. Using this information,the computer 128 will preferably access a database which contains thestart and endpoints appropriate for this user for the selected exercise.The first time a user uses each type of machine, preferably there willbe an orientation session wherein the machine determines eachappropriate endpoint for each exercise which may be performed on themachine. Additional exercise parameters might also be specified (eitherby the user and/or his or her trainer) in connection with eachuser/exercise combination including, by way of example only, outboundspeed of the impingement member, inbound speed, maximum allowable forceon the impingement member, pause intervals at each endpoint, number ofrepetitions per set, the number of sets prescribed, rest between sets,and the like.

Once the appropriate exercise variables are obtained from the database,the user will be provided a workout screen on display 114 with a “START”button to begin the workout. Upon pushing the start button, impingementmember 110 will preferably begin oscillating between an innermostposition 198 (FIG. 5) and an outermost position 200 (FIG. 5). Once theuser exerts a threshold force on the impingement member, the computer128 will begin counting and displaying repetitions of the impingementmember and graphing the user exerted force on display 114.

Each complete cycle, e.g., an outbound stroke and an inbound stroke,constitutes one repetition. Often times strength training will beprescribed as a number of sets, each set consisting of a prescribednumber of repetitions. Preferably, the number of sets and number ofrepetitions in each set will be displayed to the user. As will beapparent to one skilled in the art, each muscle only works incontraction. When a muscle is pulling, it is said to be working in aconcentric phase. When a muscle is resisting movement, it is said to bein an eccentric phase. A unique characteristic of the present invention,as well as the earlier Noffsinger patent referenced hereinabove, is theability of the user to operate in a normal concentric-eccentric cycle,eccentric-concentric cycle, concentric-concentric cycle, oreccentric-eccentric cycle, simply by choosing to pull or push at anypoint as the impingement member oscillates. With regards to thepreceding aspect, the present invention can be thought of as providing“dynakinetic” capacity. Dynakinetic is used herein to describe thepresent invention's ability to provide users with concentric andeccentric cycles of movement, as described above. Additionally, thepresent invention can vary the rate at which the impingement membermoves through each of the above-described cycles. In this sense, thepresent invention provides “dynamic” variation of the traditionalconcentric/eccentric weight-lifting cycles.

As is generally recognized in the art, there are unique benefits gainedin each of the concentric and eccentric phases of the exercise. Thepresent invention allows the user to maximize a workout session based onthe goals of the individual and the individual's performance using thereal-time feedback loop present in the claimed invention. This featurealso allows a single machine to replace two stations of conventionalweight training equipment. For example, a chest press machine 100 asshown in FIG. 1, can also be used to perform an upright row movement,and an abdominal machine can also be used to exercise lower backmuscles. This feature thus allows a facility to use less floor space fora circuit of strength training equipment and to increase the utilizationof each machine in the circuit.

When user 108 completes a workout, the machine may display an exercisesummary to the user. Most preferably, previous exercise sessions of likeexercises are stored in a central location and accessible to the localexercise machine. Workout information is preferably stored in databasetables associated with the same database as workout parameters andworkout prescription information as detailed above. Along with thesummary of the most recent workout, the machine may also show acomparison to other recent sessions and graphically show overall changesin ability over any length of time stored in the database. It should benoted that the historical data gathered at the central location may alsobe used for a number of purposes. If age, gender, height, weight,cultural background, fitness history, and similar information arecollected for each user, when a new user contemplates using the machine,he or she may see statistics for similarly situated users who have usedthe machines in the past. A user can thus approach an exercise regimenwith realistic expectations. Further, such data may be useful to inspireresearch, verify research, or verify data collected in other ways withregard to exercise physiology. As will also be apparent to those skilledin the art, the present invention is applicable to the training ofvirtually all muscle groups and can be used in lieu of any weight-platestrength training equipment. The chest press/seated rowing machine 100of FIG. 1 is also shown in in several views in FIGS. 5-7. It can be seenthat, when the rod of actuator 112 is fully retracted, impingementmember 110 will be located at an inner most position. Preferably seat202 is adjustable for users of varying heights and weight, such as viapin 204 which locks in one of holes 206 to set the seat height. Seatback 208 is shown fixed but may likewise be made adjustable, however, aswill be apparent to one skilled in the art, the ability to set the startand endpoints of impingement member 110 for a particular exercisereduces, if not eliminates, the need to make seat back 208 adjustable.It should also be noted that a lumbar support (not shown) may beincluded in seat back 208, if so desired.

Foot rest 210 provides support for the user's feet, particularly duringa seated row-type exercise where there may be a propensity to slideforward on seat 202 during the exercise while the user is pulling ongrips 212.

It should be noted that grips 212 include a narrow vertical grippingsurface 214, a slightly wider gripping surface 216, and optionally awider gripping surface (not shown) outside impingement member 110 byextending grip 212 completely through member 110. Providing a variety ofgripping options, along with the ability to set a range of motion,allows the user to engage different muscles during a workout session.

Referring to FIGS. 8-10, a preferred embodiment of a shoulder press/latpull strength training machine 218 constructed in accordance with thepresent invention comprises: a frame 220 having a base 222 forsupporting the machine 218; a seat 226 for a user attached to frame 220by support 236; an adjustable leg support 228 for helping the userremain seated during lat pull exercises, the leg support adjustablebetween a lowermost position 232 and an uppermost position 234 bypulling on spring pin 230, adjusting leg support 228 to the desiredheight and allowing pin 230 to engage the nearest hole (not shown);adjustable feet 224 for leveling machine 218 and eliminating any rockingwhen the machine is installed on an uneven floor; an impingement member238 pivotally attached to the frame 220 for providing resistancetraining to the user; a linear actuator 240 pivotally attached to mount246 at actuator clevis 242 through axle 244 and drivingly positionedbetween the impingement member 238 and frame 220 for driving member 238;a display or other user interface 274 for displaying information to theuser; a motor controller (not shown) for providing control of actuator240; and a computer (not shown) for providing overall control of themachine and feedback to the user.

As will be apparent to those skilled in the art, if impingement member238 simply pivots at a fixed point on the frame, grips 276 and 284 willhave horizontal movement as well as vertical movement and, in fact willfollow an arcuate path. While such a movement would not beobjectionable, particularly if the arc was of sufficient radius, in onepreferred embodiment, a mechanism is employed to substantially removearcuate motion of the grips. To provide substantially vertical motion,impingement member 238 is pivotally attached to a pair of uprights 258at pivot 260 with axles 264. Uprights 258 are in turn pivotally attachedto plate 262 of frame 220 at mounts 262 through axels 266 allowinguprights 260 to move forward and backward. Rod clevis 248 of actuator240 pivotally attaches to impingement member 238 and to first ends oflinks 256 through axle 250. Links 250 attach at second ends to framemount 254 via axle 290. As the rod of actuator 240 extends from itslowermost position, wherein impingement member 238 is at position 270,to its midpoint, links 256 push uprights rearward to negate the arcuatemotion of impingement member about axle 264. As the rod of actuator 240extends upward from its midpoint towards full extension, whereinimpingement member 238 is at position 272, links 256 pull uprights 258forward, likewise negating the arcuate motion of impingement member 238about axle 264. Most preferably either a load cell is included at rodclevis 248 or actuator clevis 242, or alternatively a pair of load cellsare provided proximate the grips 276 and 284 to allow measurement of theforces exerted by the user.

As will be apparent to one of ordinary skill in the art, a alternativemethods could be employed to achieve vertical motion such as, by way ofexample and not limitation, rollers guided along a vertical member offrame 220, a vertical rack and pinion, cables, etc. Advantage of thesystem described above include: less chance of rumbling or vibrationthan in a system where rollers or gears bear on a mating surface;maintenance requirements are lower since friction producing areas areconfined to the axles; and lubricated points are not exposed.

As with the chest press/seated row embodiment discussed hereinabove,multiple grips and/or gripping surfaces may be provided to increaseexercise options for the user and to engage different muscle groups fordifferent exercises. By way of example and not limitation, shoulderpress/lat pull machine 218 may include: a forward grip 276 providing awide gripping surface 282, a narrow gripping surface 280 and a pronatedgripping surface 278; as well as a rearward grip 284 providing a latpull gripping surface 288 and a narrow gripping surface 286. Also aswith chest press/seated row embodiment, the shoulder press machine 218may be used to train opposing muscle groups with either upward pressesor downward pulls. Likewise the shoulder press/lat pull machine may beused on a conventional concentric—eccentric fashion,concentric—concentric fashion, or eccentric—eccentric fashion.

In a third preferred embodiment, as shown in FIGS. 11-13, a squatmachine 292 is provided. Preferably squat machine 292 includes: a frame294 having a base 296; a surface 298 on base 296 for supporting a user;a plurality of adjustable feet 300 projecting downward from base 296 forleveling machine 292 on a floor and eliminating any rocking caused byunevenness in the floor; an impingement member 302 pivotally attached tothe frame 294 for providing resistance training to the user; a linearactuator 304 pivotally attached to mount 306 at actuator clevis 308through axle 310 and drivingly positioned between the impingement member302 and frame 294 for driving member 302; a display or other userinterface 312 for displaying information to the user; a motor controller(not shown) for providing control of actuator 304; and a computer (notshown) for providing overall control of the machine and feedback to theuser.

As in the shoulder press/lat pull embodiment discussed above, ifimpingement member 302 simply pivots at a fixed point on the frame,shoulder pads 314 will have horizontal movement as well as verticalmovement and, in fact, will follow an accurate path. Again such amovement would not necessarily be objectionable, particularly if the arcwas of sufficient radius. However, in one preferred embodiment, amechanism substantially the same as that discussed with respect to theshoulder press/lat pull embodiment is employed to substantially removearcuate motion of pads 314. To provide substantially vertical motion,links 318 pivot from frame-side member 318 at axles 326 to move uprights320 rearward and forward in response to extension and retraction of rod322 to limit impingement member 302 to a substantially vertical movementover its normal range of motion. Rod clevis 324 is also pivotallyattached to impingement member 324 by pin 328 such that extension andretraction of actuator 304 will move impingement member 302 up and down.Uprights 320 are pivotally attached to frame 294′ through axles 330 andto impingement member 302 by axles 332 to allow forward and rearwardmovement. When rod 322 of actuator 304 is at its lowermost position,impingement member 302 is at its lowest position 334. As rod 322 extendsupward towards full extension, impingement member 302 moves to itsuppermost position 336.

In use, the user steps under the pads and pushes upward with his or herlegs both as impingement member 302 moves upward and downward. It shouldbe noted that there are those skilled in the art that believe squatshould be performed on a slight incline. As will be apparent, squatmachine 292 could be easily modified to perform squats on an incline. Inparticular, surface 298 could simply be angled upward at a desired angleto place the user in such a posture if so desired. It should be notedthat, unlike previously described embodiments, the squat machine wouldtypically be used in a traditional concentric—eccentric fashion.

There are also those skilled in the art that believe that not all userswill be of a fitness level where a standing squat is an appropriateexercise. As an alternative to the squat machine, the leg press machine338 of FIGS. 14 and 15 will provide similar training to leg muscles. Inone preferred embodiment, leg press machine 338 comprises: frame 340having a base 342, which in turn includes adjustable feet 378 forsupporting machine 338 on a floor and removing any rocking resultingfrom unevenness in the floor; a seat 344 for supporting a user, seat 344having a seat base 380 mounted to frame 340 on plate 356, and seat back346 which, optionally, may include adjustment mechanism 348 for settingthe angle of seat back 346 for the comfort of individual users; adisplay 350 supported from frame 340 by monitor stand 352 and pivotingmount 354 which allows a user to adjust the angle of display 350 forcomfortable viewing; an actuator 358 driving disposed between frame 340and impingement member 388, actuator 358 being pivotally attached toframe 340 at actuator clevis 382 through pin 384 and pivotally attachedto impingement member 388 at rod clevis 364 by pin 386; load cell 362for measuring the forces produced by a user; and a computer/motorcontroller (not shown) for directing movement of actuator 358.

In one preferred embodiment of leg press machine 338, impingement member388 comprises a conventional four bar mechanism so that the angle offoot plate 372 relative to the base 342 remains substantially constantover the range of motion of impingement member 388. Preferably, the fourbar mechanism comprises: a portion of frame 340; foot support 372; apair of forward support bars 368 pivotally attached to frame 340 andfoot support 372 by axles 370; and a rear support bar 366 likewisepivotally attached to frame 340 and foot support 372 by axles 370. Aswill be apparent to those skilled in the art, bars 366 and 368 will atall times remain parallel to each other which in turn, maintains theangle of foot support 372.

Foot support 372 includes plate 374 which the user pushes against withhis or her feet. Preferably, plate 374 is formed of a durable materialsuch as wood, metal, plastic, or the like, and is coated on the userfacing side with a non-skid surface to reduce slippage of the user'sfeet during the workout. Handles 376 may also be provided proximate seatbase 380 to improve the user's control during a workout. As is the casewith the squat machine discussed above, the leg press machine isprimarily suited for use in a traditional concentric—eccentric fashion.

Turning next to FIGS. 16-18, in yet another preferred embodiment thepresent invention provides a combination leg extension/leg curl machine390. Preferably leg machine 390 comprises: a frame 392 having a base 394with adjustable feet 396, frame 392 includes upright bearing support 434and brace 436 to improve the rigidity of frame 392; a seat 398 issupported by frame 392; an impingement member 410 is pivotally attachedto frame 392 via axle 408 which is rotatably received in pillow blackbearings 412; bell crank 416 which is non-rotatably secured to axle 408through a woodruff key, splines, or the like; actuator 414 drivinglydisposed between frame 392 and bell crank 416, actuator clevis 418 beingpivotally attached to frame 392 by pin 420 and the rod 422 of actuator414 being pivotally attached to bell crank 416 at clevis 424 through pin426 such that linear extension or retraction of actuator 414 results inrotation of axle 408; display 428 supported from frame 392 by monitorstand 430 and monitor pivot 432 which allows the user to adjust display428 for comfortable viewing; and a computer/motor controller to controlmovement of actuator 414. A load cell (not shown) is preferably providedto measure forces produced by the user during a workout.

Preferably seat 398 comprises: seat cushion 400 on which the user sits;seat back 402; seat base 404; and seat adjustor 406 which allows theuser to move the seat forward and rearward relative to frame 392 so thatthe user's knee pivots along roughly the same axis as that defined byaxle 408.

In one preferred embodiment, impingement member 410 is welded orotherwise secured to axle 408. Impingement member 410 includes: pad 444which engages the user's leg during a workout; an upper section 438; alower section 440 which is telescopically received in upper section 438;and an adjustment spring pin 442. To adjust the length of impingementmember 410, the users pulls on pin 442 and telescopes lower section 440in or out of upper section 438. When the correct length is found, theuser releases pin 442 which falls into one of a series of holes in lowersection 440 to fix the length.

To perform a leg extension, the user places his or her shins against pad440 on the inboard side of pad 440 between the seat and the pad 440. Asthe actuator 414 extends and retracts, impingement member 410 moves overa range of motion, somewhere between a lowermost position 446 where rod422 is fully extended and an uppermost position where rod 422 is fullyretracted. Over the range of motion, the user pushes upward and out onimpingement member 410

To perform a leg curl, the user places his or her calves on the outboardside of cushion 444 and pushes downward and in on impingement member410. In a seated leg curl, the user produces forces which tend to liftthe upper part of the leg off the seat. To keep the user properly seatedduring the leg curl exercise, leg support 450 can be rotated downward toposition 452 and locked in place via adjustment mechanism 454. Whenperforming leg extensions or when the user is embarking or disembarking,support 450 can be lifted to position 456. The seated leg curl is notnecessarily well accepted by all trainers and exercise physiologists,thus an alternative embodiment is to produce an inclined leg curlmachine (not shown). In such an embodiment, seat 398 is simply replacedwith a bench and the need for support 450 is eliminated. The user lieson his or her stomach while performing the leg curl exercise againstimpingement member 410. Obviously such modifications are well within theabilities of one of ordinary skill in the art.

In still another preferred embodiment, as shown in FIGS. 19-21, thepresent invention provides a combination a back/abdominal machine 458.Preferably machine 458 comprises: a frame 460 having a base 462 withadjustable feet 464, frame 460 includes upright bearing support 466 andbrace 468 to improve the rigidity of frame 460; a seat 470 is supportedon frame 460; an impingement member 472 pivotally attached to frame 460via axle 474 which is rotatably received in pillow black bearings 476;bell crank 478 which is non-rotatably secured to axle 474 through awoodruff key, splines, or the like; actuator 480 drivingly disposedbetween frame 460 and bell crank 478, actuator clevis 482 beingpivotally attached to frame 460 by pin 484 and the rod 486 of actuator480 being pivotally attached to bell crank 478 at clevis 488 through pin490 such that linear extension or retraction of actuator 480 results inrotation of axle 474; display 492 supported from frame 460 by monitorstand 494 and monitor pivot 496 which allows the user to adjust display492 for comfortable viewing; and a computer/motor controller to controlmovement of actuator 480. A load cell (not shown) is preferably providedto measure forces produced by the user during a workout.

In one preferred embodiment, impingement member 472 is welded orotherwise secured to axle 474. Impingement member 472 includes: pad 498which engages the user's back during a workout; and a pair of grips 500which help the user maintain proper posture during the workout. Whileimpingement member 472 is shown of a fixed length, it could readily bemade adjustable in the same manner as the impingement member of the legextension/leg curl embodiment to accommodate a wider range of users.

In still another preferred embodiment, as shown in FIGS. 22 and 23, ashoulder machine 502 is provided. Shoulder machine 502 provides strengthtraining for either the left or right shoulder and allows for rotationof the shoulder constrained to either a horizontally polarized arc or avertically polarized arc. Shoulder machine 502 comprises: a frame 504having a base 506; a seat 508 mounted to a pair of tracks 516 located onbase 506 such that seat 508 can be adjusted from side-to-side; a display514 pivotally attached to monitor stand 510 at bracket 512; a rotaryactuator 518 mounted to support 530 which, in turn, is pivotallysupported form upright 520, which comprises a portion of frame 504; ahousing 526 on upright 520 which receives an axle connected on a firstend to actuator support 530 and handle 524 on a second end; impingementmember 522; rotary load cell 538 between actuator 518 and impingementmember 522 for measuring the torque exerted by a user; and acomputer/motor controller combination for controlling the motionprovided by actuator 518.

Impingement member 522 includes: hub 536 which is driven by actuator518; a pair of parallel bars 532 received in hub 536; end cap 534 whichcaptures bars 532 at their distil end to hold bars 532 parallel; gripshuttle 540 which slides along bars 532 to accommodate users of varyingforearm length; clamp 546 on shuttle 540 for fixing shuttle 540 at adesired positions on bars 532; grip 542 located on shuttle 540 for theuser's hand; and elbow support 546 for holding a user's elbow in aproper position during a workout.

To use shoulder machine 502, a user first moves seat 508 to the leftside of the machine to exercise her or his right shoulder, or to theright side of the machine to exercise the left shoulder. The user moveshandle 524 to its vertical position, as shown, to perform horizontaltraining, to a left horizontal position to exercise the right shoulderin a vertical arc, or to a right horizontal position to exercise theleft shoulder in a vertical arc. Preferably, detents or a locking pin isprovided to hold handle 524 in the selected position. The user then sitsin seat 508, places her or his appropriate elbow in elbow support 544,adjusts shuttle 540 until grip 542 falls naturally into the user's hand,and tightens clamp 546 to hold shuttle 540 in the proper position. Theuser then grabs grip 542, and presses the start button on display 514 tostart the session.

It is important to note that for the shoulder machine a rotary actuatoris employed, as opposed to the linear actuator used in previouslydescribed embodiments. Preferably, actuator 518 is a servo motor,similar in construction, if not identical, to the motor used inside thelinear actuators of previously described embodiments. It should also benoted that actuator 518 could be almost any type of controllable motor,just as the type of motor employed in the linear actuator is notcritical to the present invention. Like the linear actuator, preferablyrotary actuator 518 includes a quadrature encoder so the electronicsystem of machine 502 can stay abreast of the precise position ofimpingement member 522. It should also be noted that, depending on thecharacteristics of the motor employed in actuator 518, it may bedesirable to employ a transmission, gear box, for allowing the motor torun at a higher speed to produce the torque necessary for the operationof machine 502. Such engineering decisions are within the level of skillordinarily found in the art.

As will be apparent to one of ordinary skill in the art, otherembodiments, especially the leg extension/leg curl machine, and theback/abdominal machine could easily employ a rotary actuator instead ofthe linear actuator and bell crank. It should also be apparent thatshoulder machine 502 could easily be constructed using a linear actuatorand a bell crank to produce the desired rotational motion.

In each of the preceding embodiments, the user's safety will preferablybe accommodated through a variety of techniques. For example, tapeswitches have been around for a number of years. Those of ordinary skillin the art will recognize that a conventional electrical switch isactivated or deactivated by flipping a toggle or pushing a button—eitherbeing located at some point in space. The tape switch just extends thebutton linearly over some distance, e.g., one meter. If one pushesagainst the surface of the tape anywhere along its operational length(which is conventionally glued or fixed to a flat surface) the attachedcircuit will be broken shutting off power to the user end. Placing thiskind of flexible extended switch in potential pinch areas of the instantinvention could provide one sort of safety

Another safety measure that could be implemented would be based on theuse of Force Fault Interrupt (FFI), which is analogous to Ground FaultInterrupt (GFI) used to trip off electrical circuits in residentialapplications. The GFI principal of operation is simple—if an alternateground path “appears” in a circuit, the assumption is that someelectrons are taking an alternate path, perhaps thru a human body. TheGFI detects a weak magnetic field around switch conductors due todiffering outgoing and incoming current levels. Similarly, FFI isdesigned to detect an imbalance in forces (not currents) and, e.g.,could be used to immediately stop operation of an exercise station. Inone preferred embodiment, the total force level from a load cell on thelinear motor actuator rod will be compared with the total of forcesbeing placed on various machine impingement points by a user. Of course,a fair amount of calibration might be required, but such is certainlywithin the ability of one ordinary skill in the art. Here, theassumption would be that a total force imbalance would be the result of“outside interference forces” affecting machine motion, i.e., that auser is being “pinched” inappropriately. An FFI-based system couldaddress problems occurring out around the limb areas of exercisemachines between impingement points and the motor actuator.

A third safety method that might be applicable in some settings wouldinvolve the use of lasers or other light sources in combination withphotovoltaic cells. By positioning such appropriately, it would bepossible to determine when, among other things, movement of the exercisemachine took it out of the preferred or allowable range. Obviously,sensing such a condition might trigger an alarm condition. Needless tosay, such an arrangement could be useful as a safety mechanism. Finally,it is anticipated that one (or preferably more) of the foregoing mightbe implemented on each exercise machine, thereby providing redundancyand/or coverage of different aspects of the exercise machine.

Turning next to FIG. 24, according to some preferred embodiments one ormore exercise machines 2400 will be networked together with a remoteserver 2430. Although this sort of interconnectivity might have manyapplications, one preferred usage would be to communicate performancedata to a server where it can be analyzed, plotted, etc. As is explainedin greater detail below in connection with FIG. 25, many users areinterested in evaluating their performance for the current session, forprevious sessions, and/or across time. It is typical when these sorts ofanalyses are produced to provide the user with printed or plotted(either via hard copy or screen display) records of their performance.As such, it may be advantageous in some instances to transfer theperformance data from the station where it was collected to a computerwith greater capabilities.

Some preferred networking configurations suitable for use with theinstant invention are illustrated in this figure. As is illustrated,exercise machines 2400-2404 could be any combination of embodiments ofthe instant invention. Preferably, each machine will be associated witha computer (2410, 2420, or 2450) that is in electronic communicationwith it. Note, as is generally indicated in this figure, the associatedcomputer might be internal to the exercise machine (e.g., computer 2450)or external to it (e.g., computers 2410 and 2420). All that is requiredis that the computer be in electronic communication with processor 170(FIG. 4). Of course, in some preferred variations, the functionalitydescribed below will be handled by processor 170 in which case computer2450 and processor 170 could be the same device, i.e., the communicatingcomputer might be a stand alone computer or integrated into the exercisemachine.

In a preferred arrangement, each exercise machine 2400-2404 will be inelectronic communication with a remote server 2430. The connectionbetween the two computers might be direct communication (e.g., computers2420 and 2430) or indirect (e.g., where computer 2450 uses computer 2420as an intermediary when sending information to computer 2430). Withrespect to the connection between computers 2420 and 2430, thatconnection might be wired or wireless but, in the preferred embodimenteach computer will be connected somehow via Ethernet to the Internet. Insome preferred embodiments, a flash drive 2450 might be used to movedata from exercise machine 2404 to the remote server 2430.

In some preferred embodiments, provisions might be made for wired or,preferably, wireless communication with a handheld computing device2440. Bluetooth, WiFi or similar wireless communications protocol wouldpreferably be used. The subject data might be compiled and analyzed onthe handheld 2440 and/or forwarded on to server 2430 according tomethods well known to those of ordinary skill in the art.

FIG. 25 contains a preferred operating logic suitable for use with theinstant invention. As a first step 2500, the exercise machine programwill initialize 2500. Next, and preferably, various parameters relatedto the current session will be read. These parameters might includeminimum and maximum position (i.e., the range) of the impingementmember, the velocity (or velocity function) that it is to move,turnaround behavior (e.g., decelerate as the impingement member reachesnears its maximum/minimum excursion, abrupt reversal, etc.), time totravel in an outward direction, time to travel in an inward direction,number of repetitions, etc. Those of ordinary skill in the art willrecognize that many such parameters might be utilized. Note that theseparameters might be read from any combination of disk, RAM, ROM,nonvolatile RAM, and/or obtained directly from the user via a keypad,touch screen, or other input modality.

Next, the parameters will preferably be used to set correspondinginternal exercise machine parameters (step 2510) so as to implement theexercise regime described by the parameters 2505. Additionally, arepetitions counter will preferably be set equal to zero.

Preferably, the instant invention will then begin to move theimpingement member according to its program. In some preferredembodiments, time will be tracked during the movement. In some cases, aΔT (i.e., sampling interval) will be chosen and a cumulative timeparameter set equal to zero (step 2515). A suitable sampling intervalwill likely be a few milliseconds, but could be larger or smallerdepending on the needs of the programmer, the time of exercise machine,the computing power available, etc. This step might be done before,after, or in conjunction with the setting of the impingement member toits starting position (e.g., maximum or minimum excursion) asrepresented by step 2520 in the flow chart.

Next, and preferably, the instant invention will begin to implement thespecified exercise program (loop 2525-2550). As is indicated, preferablythe time (or distance, etc.) will be incremented by the chosen deltavalue (step 2525). Over the next ΔT interval, the impingement memberwill then be preferably be moved according to the performance parameters(step 2530). Note that the movement might be linear (e.g., constantmovement) or nonlinear. Preferably sometime during the movementinterval, a load cell that is in mechanical communication with theimpingement member will be read (step 2535) and stored (step 2540). Theload cell value might be stored locally (e.g., in local RAM) orcommunicated over a network to remote storage.

If the impingement member is not at its maximum or minimum position(“NO” branch of step 2545) the instant invention will preferablycontinue to move the impingement member in the same direction.

However, if the impingement member is at its maximum or minimum (the“YES” branch of step 2545) preferably the repetitions counter will beincremented. Note that, for purposes of illustration, the counter isactually incremented at both the min and max positions, althoughnormally it would be incremented only after both a maximum and a minimumhad been passed. Those of ordinary skill in the art will know how tomodify the logic of FIG. 25 to obtain the more conventional behavior.

If the repetitions counter is less than the maximum repetitionsspecified for this session, preferably the instant invention willexecute a turn around routine (step 2650) and proceed to move theimpingement member in the opposite direction. As has been mentionedpreviously, the turn around routine might be a programmeddeceleration/acceleration, a sudden reversal, etc. Afterward, theprocess discussed above will be repeated, only this time in the reversedirection.

Finally, after the user has finished his or her exercise program (or inthe event that the program is terminated early), the accumulated loadcell data will preferably be stored (step 2656) for subsequent recalland analysis.

FIG. 26 illustrates the sort of data that might be obtained during auser's exercise program. This figure contains a graphical display of theactual force output of an individual user doing 10 repetitions of abench press exercise on a preferred embodiment of the instant invention.

Data point 2600 marks the beginning of the exercise cycle which, forpurposes of illustration, will be taken to be the point where, theuser's arms are fully extended from the body. Each curve in this figureis plotted against elapsed time, with one full repetition taking about4.5 seconds. Note that the vertical axis for curve 2600-2605-2610 isoffset rather than force, i.e., this curve represents in a general waythe position of the bar during one repetition of a bench press. Thevertical axis for the remaining curves in this plot is force as measuredin pounds.

Data point 2605 would be observed at the point where the bar has beenlowered towards the user's chest. This movement from point 2600 to point2605 is called the eccentric side of the exercise movement and isdefined as the resistance (force) applied by the user is in the oppositedirection of the movement of the bar.

Data point 2610 represents the point where the user's arms are onceagain fully extended after raising the bar away from the chest. Themovement from point 2605 to point 2610 is called the concentric side ofthe exercise movement. The concentric movement is defined as theresistance (force) applied by the user is in the same direction as themovement of the bar. Most strength training exercises consist of a fullrange of motion with each repetition having an eccentric movement and aconcentric movement.

Data curve 2615 shows the actual force exerted by a user over a completerepetition of the instant invention including both the eccentric andconcentric sides of the exercise. As has been explained previously, thevertical axis for this curve in pounds and the horizontal axis iselapsed time as measured from an arbitrary start. Note that near thebeginning of the exercise cycle, the user is producing approximately 320lbs. of force (data point 2612). As the bar lowers towards the user'schest, the amount of force changes according to the normal biomechanicalefficiencies of body. Throughout the range of motion, on any givenexercise, the body recruits and engages varying groups of muscle andleverage ability from joints. Data point 2620 signifies the locationwhere the least amount of force is produced. This is commonly called thesticking point or weak point. In the exercise shown the force output ofthe user is approximately 140 lbs. at this “sticking point”. This weakpoint in the lift always occurs on the concentric side of any exercise.

Those of ordinary skill in the art will recognize that duringtraditional strength training with either free weights or weight stackmachines, the maximum amount that a user can lift will be limited to theweight that they can get past their “sticking point”. In the exerciseshown in this figure, the greatest amount of weight that a user couldexercise with would be 140 lbs. It should also be noted that this amountwould also be the maximum amount the user could lift and they couldprobably only complete one repetition with the 140 lb. weight. Whenexercising they would have to realistically use a lower percentage ofthis maximum amount to do multiple repetitions.

Because an exercise machine constructed according to the instantinvention allows the user to recruit maximum amounts of muscle tissuethroughout the entire range of motion, the amount of force and thereforeinvolvement of the various muscle groups would be expected to besignificantly greater than conventional weight training. This equates topotentially better efficiency and results of the exercise utilizingequipment of the sort combined herein versus conventional weighttraining. Finally, the increased efficiency of exercises performed withthe instant invention has the potential to reduce the time spentexercising.

Returning now to FIG. 26, curve 2625 illustrates a typical force/timecurve which has been collected during the fifth repetition. Of course,the force output is significantly reduced from the first repetition(curve 2615) due to increasing muscle fatigue. Curve 2630 tracks forceversus time after 10 repetitions. This curve tops out at about 75 poundsof force and, during the concentric side of the movement the user hasapparently reached complete muscle exhaustion.

When utilizing conventional weight training which uses a fixed amount ofweight, the user tends to be either under loaded or over loaded. Thiscan cause significant inefficiencies, which is why conventional weighttraining requires multiple sets of multiple repetitions to achieveresults. The ability of the instant invention to allow maximal musclerecruitment throughout the entire range of motion is significantadvantage.

Note that curves in FIG. 26 plotted as force versus time, but similargraphs could be produced for force versus vertical position. Technicallyspeaking, if a force curve is integrated (in the calculus sense) overdistance (vertical position in FIG. 26) the work that has been performedwill be obtain. Visually, this quantity is the area under the forcecurve vs. distance. The units of the integrated force curve will bemomentum, which the instant inventors believe to be the best estimate ofphysical/muscular “effort” proposed heretofore. This measure isrepeatable and mathematically consistent.

Currently, virtually all resistance exercise machines/systems fall intoone of two categories: (1) gravity activated (free weights, weight stackmachines, etc.), or (2) dashpot (i.e., shock absorber) and spring-likeextension. These systems are passive in the sense that their motion isnot motor driven. There are very few active systems (e.g., high-endergometers) which are other than human powered to produce motion. Whenutilizing the instant invention a user can determine through real timeeffort what the forces are on a continuous basis. Further, the user candisengage the robotic machine at any point during an exercise and beinstantly and completely freed of any forces or further needed actionfor safety reasons.

The instant inventive concept/paradigm will preferably involvecontinuous gathering of vector force data for each point of user“impingement” (e.g., where hand meets machine grip, foot meets pedal,etc.) indexed in time and space. This information-rich multi-channelstream of raw physics-type data, potentially combined with physiologydata (BP, HR, VO2, brainwave, EMG (i.e., electromyogram), etc.), can betransformed into a wealth of human performance information forindividuals and groups of users. When properly outfitted with sensors,the instant invention will be able to measure asymmetry (e.g., left armversus right arm—athletes as well as stroke victims, etc.), endurance,recovery times, progress, output versus speed, etc., etc. In somepreferred embodiments, the real time force data will be used as feedbackto automatically “coach” a user during actual exercise. In somepreferred embodiment, this force information might be plotted on acomputer monitor, preferably augmented by acoustic feedback (e.g., amusical tone with varying pitch, intensity, tempo, etc.) which would beuseful in those instances where a user's eyes are closed due to intenseeffort. In other preferred embodiments, the force data from multipleusers will be pooled to create a competitive/“gaming” environment wherea user's individual performance is used as a parameter to, for example,an on-screen video game.

Longer term, it is anticipated that a database could be compiled frommultiple users' performance that could provide additional and deeperinsights into human performance.

Finally, and turning next to FIG. 27, in a preferred embodimentmeasurements of effort (as that term has been defined previously to bethe integral with respect to time of force) will be collected andpresented to the user in raw form and/or after processing—in real timeand/or after the exercise sequence is completed. The curves in thisfigure are representative of the sort that might be obtained during aseries of bench press repetitions performed by a single individual. Inthis example, six sets of ten continuous bench press repetitions, atypical protocol, were performed with ten-minute rest periods betweeneach set. The individual was instructed to exert maximum force duringeach set without “let-up.” The bench press station embodiment of theinstant invention provided a cycle rate of one rep per six seconds.Curve 2710 (Data Series 1) tracks the test subject's initial exercisesession. Curve 2720 (Data Series 2) displays results for the sameprotocol applied to the individual six weeks later. Curve 2730 (DataSeries 3) is a plot derived from the first two and is, technically, the“discrete derivative” of the difference between plots 1 and 2. That is,Data Series 3 displays the change in the difference over six weeks inthe individual's generated effort from set-to-set (or, wordeddifferently, as a function of inter-set interval number).

Curve 2730 is an example of a “first-step” analysis of raw effort dataand can be considered to be a member of a “derived data class” for thisexperimental assessment. The downward slope of both plots 1 and 2clearly displays the drop-off in momentum generation set-to-set, adirect indicator of fatigue. The total sum, performed over repetitionsets, of the generated momentum for the initial protocol assessment is2.05E+05 Newton-seconds. This same sum, performed after six weeks, hasincreased to 3.09E+05 Newton-seconds representing a 51% increase inmomentum generation capacity for the tested individual using thisparticular assessment protocol.

Curve 2730 is positive for sets 1-3 indicating that after six weeks thetested individual did not fatigue as rapidly up to the third protocolset, but fatigued more rapidly for the remaining three sets. It canreasonably be concluded that the tested individual learned to becomemore mentally and physically focused for exercise sessions resulting ina “frontloading” of effort output. What are not given here are theexercise protocols used during the intervening six weeks.

It should also be clear that the above described protocol could bemodified in many ways. For example: 10 sets of 6 reps with shortenedrest intervals; 10 sets of 5 eccentric-only or concentric-only reps; or10 sets of 6 variable cycle rate reps. The possible list of usefulvariations is virtually unlimited. It should be further noted that theinstant paradigm characterizes a single cycle (repetition) of a repeatedexercise motion as a full duty cycle. Eccentric-only or concentric-onlyreps are half-duty cycle—any fraction of a full duty cycle can bedefined and applied when using exercise machines constructed accordingto the instant invention. If the protocol were administered to a groupof individuals as described above for a single test subject, ameaningful statistical study could be performed to assess a variety ofintervening protocols for effectiveness.

Based on the foregoing example, it should be clear that effort data,which has not heretofore been available from an exercise machine,provides a valuable and unique contribution to the quantitative analysisof performance data. Whether viewed in its raw/unprocessed form (e.g.,curves 2710 and 2720) or after mathematical transformation (e.g., curve2730) the calculation of effort (and derivatives therefrom) provides anew and meaningful way to view performance data.

The present invention is subject to a number of variations andalterations which are all within the scope of the present invention. Byway of example and not limitation, the servo of the motor controller canbe programmed to optionally operate as a force servo in conjunction withthe load cell to provide a constant force at the impingement member.Thus, the inventive machines can thus operate as conventional strengthtraining equipment. In such a mode of operation the motor controller canbe programmed to only allow movement of the impingement member when theuser is providing some minimal force. If the user “drops” the bar,unlike traditional free weights or weight plate machines, the bar willsimply freeze at its current position.

The discussion of use as a conventional weight training machinehighlights the difference between the present invention used in itspreferred mode and traditional machines. In its preferred mode, theexercise provided is dynakinetic such that the impingement member movesat a constant speed regardless of the force applied, the machine alwayspushes back with the same force provided by the user. Alternatively, thespeeds (eccentric and concentric) could be varied. For example, anexercise program might be faster in the eccentric phase of a bench pressand slower in the concentric phase, move more slowly through naturalsticking points, etc. Of course, real-time feedback control of machinemotion, permitted force levels (or “bracket” force limits where usermust stay between two force values or machine responds in somepredetermined manner) could cause many discrete or continuous changes.As discussed above, this allows the user to maximize the effort expendedbecause sticking points are nonexistent

As will be apparent to those skilled in the art, the present inventionoffers data management abilities that were heretofore, impossible.Machines constructed according to the present invention are ideallysuited for networking, i.e. through an Ethernet connection. When themachines are thus connected, the personalized user variables, such asend points, speed, etc., will preferably be made available at anymachine on the network. In fact, if multiple networks are connected viathe Internet, user variables will potentially be accessible from anymachine anywhere in the world. Further, raw data from each workout auser performs can also be stored in a database along with userinformation such as gender, age, weight, height, fitness level, etc. Asdata is collected, historical data may be used to provide a usermeasurement of improvement, even minute improvements, over time.Additionally, historical data may be used to predict a response a newuser might reasonably expect to achieve over a given time period. Thisability can keep users motivated since people will start with reasonableexpectations and can thereafter see even small improvements which wouldbe difficult, is not impossible, to measure with prior art equipment.

Note that in some preferred embodiments the instant invention will bedesigned to permit multi-dimensional movement under actuator control,e.g., orienting the actuators in such a way as to permit independentx-y-z motion. This could prove to be useful in situations where, forexample, a patient is in rehabilitation or for sport-specific trainingmovements. On way of implementing this would be through the use of acable and pulley arrangement of the sort utilized in a weight stackmachine.

In other preferred embodiments, the exercise machine of the instantinvention could be programmed to have a cycle rate slows down withincreased force. In other instances, the machine could be stopped and/orwarns the user when the user is overstressing according to sopredetermined parameter values. Finally, in some preferred embodimentsthe user will be acoustically coached (e.g., via musical note pitch, orintensity, or preprogrammed voice messages, etc.) as exercise progressesto provide acoustic feedback related to the user's performance.

Thus it can be seen that the present invention is well suited toovercome the needs and alleviate the problems associated with prior art

1. An exercise machine for strength training and assessment, saidexercise machine comprising: a frame; an impingement member movablyattached to said frame; an actuator disposed between said frame and saidimpingement member for driving said impingement member through a rangeof motion between a first position and a second position; and acontroller in communication with said actuator for controlling themovement of said actuator, said controller providing selectable controlof the said first position and said second position such that range ofmotion is programmable, wherein when a user engages said impingementmember, at least one muscle of the user is exercised.
 2. The exercisemachine of claim 1 further comprising: a user interface for receivinginput from said user and displaying exercise results to said user; aload cell in mechanical communication with said impingement member suchthat forces applied to said impingement member by said user will bemeasured by said load cell; and a computer in communication with saiddisplay, said load cell, and said motor controller, said computer forreceiving said forces applied to said impingement member, for directingselectable control of said motor controller, and for receivinginformation from, and providing information to, said user interface tocontrol the exercise of said at least one muscle and assess the fitnessof said at least one muscle.
 3. The exercise machine of claim 2 whereinthe user can selectably engage said impingement member for eitherconcentric training or eccentric training at any point in said range ofmotion.
 4. The exercise machine of claim 2 wherein said first positionand said second position are stored in a database for each user of aplurality of users and said computer accesses said database when eachuser exercises on the exercise machine such that the range of motion isindividually appropriate for each user.
 5. The exercise machine of claim1 wherein the exercise machine is configured as a chest press machineand said at least one muscle is a plurality of muscles including muscleslocated in said user's chest and arms.
 6. The exercise machine of claim1 wherein the exercise machine is configured as a shoulder press machineand said at least one muscle is a muscle located in the user's arm. 7.The exercise machine of claim 1 wherein the exercise machine isconfigured as a leg extension machine and said at least one muscle is amuscle located in the user's leg.
 8. The exercise machine of claim 1wherein the exercise machine is configured as a leg press machine andsaid at least one muscle is a muscle located in the user's leg.
 9. Theexercise machine of claim 1 wherein the exercise machine is configuredas a squat machine and said at least one muscle is a muscle located inthe user's leg.
 10. The exercise machine of claim 1 wherein the exercisemachine is configured as a shoulder machine and said at least one muscleis a muscle which produces rotation of the user's shoulder.
 11. Theexercise machine of claim 1 wherein the exercise machine is configuredas a back abdominal machine and said at least one muscle is a musclelocated in the user's back.
 12. A computerized strength trainingexercise machine comprising: a frame; an impingement member movablyattached to said frame; an actuator disposed between said frame and saidimpingement member for driving said impingement member through a rangeof motion between a first position and a second position; a controllerin communication with said actuator for controlling the movement of saidactuator, said controller providing selectable control of the said firstposition and said second position such that said range of motion isprogrammable; a user interface for receiving input from a user anddisplaying exercise results to said user; a load cell in mechanicalcommunication with said impingement member such that forces applied tosaid impingement member by said user will be measured by said load cell;and a computer in communication with said user interface, said loadcell, and said motor controller, said computer for receiving said forcesapplied to said impingement member, for directing selectable control ofsaid motor controller, and for receiving information from, and providinginformation to, said user interface to control the exercise provided tosaid user by said impingement member.
 13. The computerized strengthtraining machine of claim 12 wherein the user can selectably engage saidimpingement member for either concentric training or eccentric trainingat any point in said range of motion.
 14. The computerized strengthtraining machine of claim 12 wherein said first position and said secondposition are stored in a database for each user of a plurality of usersand said computer accesses said database when each user exercises on theexercise machine such that the range of motion is individuallyappropriate for each user.
 15. The computerized strength trainingmachine of claim 12 wherein the exercise machine is configured as achest press machine.
 16. The computerized strength training machine ofclaim 12 wherein the exercise machine is configured as a shoulder pressmachine.
 17. The computerized strength training machine of claim 12wherein the exercise machine is configured as a leg extension machine.18. The computerized strength training machine of claim 12 wherein theexercise machine is configured as a leg press machine.
 19. Thecomputerized strength training machine of claim 12 wherein the exercisemachine is configured as a squat machine.
 20. The computerized strengthtraining machine of claim 12 wherein the exercise machine is configuredas a shoulder machine.
 21. The computerized strength training machine ofclaim 12 wherein the exercise machine is configured as a back/abdominalmachine.
 22. The computerized strength training machine of claim 12wherein the exercise machine is configured so that said computercommunicates with a server in order to store and update user informationin a database configured to house information relating to user(s)exercise performance history.
 24. The computerized strength trainingmachine of claim 12 wherein the exercise machine is configured so thatsaid computer communicates with the computers of other computerizedstrength training machines.
 25. A suite of computerized strengthtraining machines of claim 12 wherein the exercise machines areconfigured so that said strength training machines communicate with oneanother.
 26. A suite of computerized strength training machines of claim12 wherein said exercise machine are configured so that their computerscommunicate with a server.